There is only one way to know: Time it.
In general, I think a single join enables the database to do a lot of optimizations, as it can see all the tables it needs to scan, overhead is reduced, and it can build up the result set locally.
Recently, I had about 100 select-statements which I changed into a JOIN in my code. With a few indexes, I was able to go from 1 minute running time to about 0.6 seconds.